-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "livox_frame",  -- Mid-360 的坐标系
  published_frame = "livox_frame",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 0,  -- Mid-360 不提供 2D 激光扫描数据
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 1,  -- Mid-360 提供单个点云话题
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,  -- 启用 IMU 数据
  landmarks_sampling_ratio = 1.,
}

-- Mid-360 点云处理参数
TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160  -- 根据点云密度调整
TRAJECTORY_BUILDER_3D.min_range = 0.3  -- Mid-360 最小探测距离
TRAJECTORY_BUILDER_3D.max_range = 70.0  -- Mid-360 最大探测距离
TRAJECTORY_BUILDER_3D.motion_filter.max_angle_radians = math.rad(0.1)  -- IMU 角度过滤阈值
TRAJECTORY_BUILDER_3D.motion_filter.max_distance_meters = 0.1  -- IMU 距离过滤阈值
TRAJECTORY_BUILDER_3D.motion_filter.max_time_seconds = 0.05  -- IMU 时间过滤阈值

-- 地图构建器配置
MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7  -- 根据 CPU 核心数调整

-- POSE_GRAPH 优化参数
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_nodes = 160  -- Mid-360 数据量较大，减少优化间隔
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03  -- 降低采样率以减少计算负载
POSE_GRAPH.constraint_builder.min_score = 0.62  -- 匹配质量阈值
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66  -- 全局定位质量阈值
POSE_GRAPH.constraint_builder.loop_closure_translation_weight = 10.0  -- 回环闭合权重
POSE_GRAPH.constraint_builder.loop_closure_rotation_weight = 1000.0  -- 回环闭合权重

-- Ceres 求解器配置
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10  -- 减少迭代次数以提高实时性
POSE_GRAPH.optimization_problem.ceres_solver_options.num_threads = 7  -- 使用多线程

return options